free memory for btShapeHulls, keep track of it in GL_ShapeDrawer.

move btShapeHull and btConvexHull into its own library in Extras/ConvexHull (it allocates memory using mem/delete and refactoring into using btAlignedAlloc/Free takes too much time)
fix heightfield / btOptimizedBvh for quantization, so that raycast can use quantized aabb (clamp up for maxima and down for minima)

work-in-progress (update projectfiles etc)

Demos/OpenGL/GL_ShapeDrawer.h

@@ -16,16 +16,26 @@ subject to the following restrictions:
 #define GL_SHAPE_DRAWER_H
 
 class btCollisionShape;
+class btShapeHull;
+#include "LinearMath/btAlignedObjectArray.h"
 #include "LinearMath/btVector3.h"
 
 /// OpenGL shape drawing
 class GL_ShapeDrawer
 {
-	public:
+	//clean-up memory of dynamically created shape hulls
+	btAlignedObjectArray<btShapeHull*>	m_shapeHulls;
 
-		static 	void	drawOpenGL(btScalar* m, const btCollisionShape* shape, const btVector3& color,int	debugMode);
-		static void		drawCoordSystem();
+	public:
+		GL_ShapeDrawer();
+
+		virtual ~GL_ShapeDrawer();
+
+		///drawOpenGL might allocate temporary memoty, stores pointer in shape userpointer
+		void		drawOpenGL(btScalar* m, const btCollisionShape* shape, const btVector3& color,int	debugMode);
+		
 		static void		drawCylinder(float radius,float halfHeight, int upAxis);
+		static void		drawCoordSystem();
 };
 
 void OGL_displaylist_register_shape(btCollisionShape * shape);